boofcv.alg.geo.pose

Class PnPResidualReprojection

java.lang.Object

boofcv.alg.geo.pose.PnPResidualReprojection

All Implemented Interfaces:

ModelObservationResidualN<georegression.struct.se.Se3_F64,Point2D3D>

public class PnPResidualReprojection
extends Object
implements ModelObservationResidualN<georegression.struct.se.Se3_F64,Point2D3D>

Computes the predicted residual as a simple geometric distance between the observed and predicted point observation in normalized pixel coordinates.

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
PnPResidualReprojection()

Method Summary

Methods

Modifier and Type	Method and Description
int	computeResiduals(Point2D3D data, double[] residuals, int index) Compute the residual errors for the observation
int	getN() The number of outputs
void	setModel(georegression.struct.se.Se3_F64 model) Specify the model being evaluated

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PnPResidualReprojection

public PnPResidualReprojection()

Method Detail

setModel

public void setModel(georegression.struct.se.Se3_F64 model)

Description copied from interface: ModelObservationResidualN

Specify the model being evaluated

Specified by:

setModel in interface ModelObservationResidualN<georegression.struct.se.Se3_F64,Point2D3D>

Parameters:

model - The model.

computeResiduals

public int computeResiduals(Point2D3D data,
                   double[] residuals,
                   int index)

Description copied from interface: ModelObservationResidualN

Compute the residual errors for the observation

Specified by:

computeResiduals in interface ModelObservationResidualN<georegression.struct.se.Se3_F64,Point2D3D>

Parameters:

data - Observation of point feature in two views

Returns:

The new index. index + getN()

getN

public int getN()

Description copied from interface: ModelObservationResidualN

The number of outputs

Specified by:

getN in interface ModelObservationResidualN<georegression.struct.se.Se3_F64,Point2D3D>

Returns:

number of outputs